Don't worry if you're not bang on time, most car parks and hotels expect this and will help you as best they can.
If you've booked a car park where your car is parked for you, such as Meet and Greet, just give them a ring when you're close by so they know you're coming - their contact details are on your confirmation.
It's at the car park's discretion if they charge you for the additional time. If they do it's at their local rates, payable to them directly when you leave. Unfortunately, it's not possible to extend a pre-booking with Holiday Extras once it has started.